Add input filter to control data

[t3kt]

Smoothing, overshoot, lag, etc.

[JimAnkrom]

This requires some discussion, I think.

• YAW - Yaw is a compass heading - fairly absolute data. To smooth between them we need to maintain a reference to the last control packet sent. However, that persisted last packet needs to be post-filter; if I send a packet (A) that is then clipped to half the yaw distance, that results in (!A). My next packet (B) should be filtered not to (A+MAX_DISTANCE) but to (!A+MAX_DISTANCE). However - does this make the paddle movement look jittery? not sure...
• PITCH - Pitch is not used at the moment but... I would like it to be. That said I don't see it likely we need to filter pitch.
• ROLL - No need to filter roll, but smoothing (rounding?) might simplify the math... somewhat?

[t3kt]

we could just use a simple averaging of the last N values received. or if
the data coming in is clean enough then we can just use it raw.

On Fri, Dec 26, 2014, 11:05 AM JimAnkrom [email protected] wrote:

This requires some discussion, I think.

*YAW - Yaw is a compass heading - fairly absolute data. To smooth between
them we need to maintain a reference to the last control packet sent.
However, that persisted last packet needs to be post-filter; if I send a
packet (A) that is then clipped to half the yaw distance, that results in
(!A). My next packet (B) should be filtered not to (A+MAX_DISTANCE) but to
(!A+MAX_DISTANCE). However - does this make the paddle movement look
jittery? not sure...

PITCH - Pitch is not used at the moment but... I would like it to be.
That said I don't see it likely we need to filter pitch.

ROLL - No need to filter roll, but smoothing (rounding?) might
simplify the math... somewhat?

—
Reply to this email directly or view it on GitHub
#31 (comment).